V1.5.1.0

Overview

NOTE: This library is for projects exclusively.

The library RoboticModule V1.5.1.0 is released for projects exclusively.

Gc_xLibraryForProject : BOOL := TRUE;

System Requirements

Using the library with other versions of software or firmware may have results other than described in the present documentation.

 WARNING
UNINTENDED EQUIPMENT OPERATION
  • Be sure that the software and firmware are of the versions supported by this library.
  • Contact your Schneider Electric service representative for compatibility information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Supported Hardware

  • PacDrive 3 Controller LMC101C

  • PacDrive 3 Controller LMC201C

  • PacDrive 3 Controller LMC300C

  • PacDrive 3 Controller LMC400C

  • PacDrive 3 Controller LMC600C

Software Requirements

  • SoMachine Motion V4.2

Firmware Requirements

PacDrive 3 V4.2

  • PacDrive LMC x00C V1.53.5.6 or greater

  • PacDrive LMC x01C V1.53.5.6 or greater

New Functions

  • IF_Configuration.AddLinearTrackingSystem

    With this configuration method, a linear tracking system can be added to the robot.

  • IF_Configuration.GetLinearTrackingSystem

    With this method, the data of a configured linear tracking system of the robot can be read.

  • IF_ConfigurationAdvanced.ModifyCoordinateSystem2

    With this method, a coordinate system of the robot can be modified.

    In contrast to the method IF_ConfigurationAdvanced.ModifyCoordinateSystem this method has the additional input parameter i_etOrientationConfiguration of type ROB.ET_OrientationConfiguration.

  • ST_ModuleInterface.i_xRobotStart

    This input variable can be used to initiate a stop on path of the robot movement without sending the module command ET_Cmd.Hold.

    This can be helpful especially in ET_OpMode.Auto.

Modifications

  • None

Enhancements

  • The diagnostic message ET_DiagExt.DriveNotReady occurred when the command ET_Cmd.Auto followed by the command ET_Cmd.Start was sent and the reaction TPL.ET_Reaction.AsyncStop or TPL.ET_Reaction.SyncStopEL was active before.

    The commands can be send without the mentioned diagnostic message now.